{"id":1165,"date":"2022-04-11T14:43:00","date_gmt":"2022-04-11T14:43:00","guid":{"rendered":"https:\/\/oxts.com\/?p=1165"},"modified":"2025-04-30T22:26:14","modified_gmt":"2025-04-30T22:26:14","slug":"what-is-ros","status":"publish","type":"post","link":"https:\/\/www.oxts.com\/zh\/what-is-ros\/","title":{"rendered":"\u4ec0\u4e48\u662f ROS\uff1f"},"content":{"rendered":"
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\u4ec0\u4e48\u662f ROS\uff1f<\/h3>\n\n \n\n\n \n\n

\u5b9a\u4e49 \"\u673a\u5668\u4eba<\/h5>\n\n\n
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ROS \u662f\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\uff08Robot Operating System\uff09\u7684\u7f29\u5199\uff0c\u4f46\u8981\u7406\u89e3 ROS \u7684\u542b\u4e49\uff0c\u6211\u4eec\u5fc5\u987b\u9996\u5148\u5b9a\u4e49\u673a\u5668\u4eba\u7684\u542b\u4e49\u3002\u5728\u672c\u535a\u5ba2\u4e2d\uff0c\u673a\u5668\u4eba\u6307\u7684\u662f\u65e0\u9700\u4e0e\u4eba\u6301\u7eed\u4e92\u52a8\u548c\/\u6216\u7531\u57fa\u7840\u8bbe\u65bd\u5f15\u5bfc\uff0c\u5c31\u80fd\u5728\u5468\u56f4\u73af\u5883\u4e2d\u81ea\u4e3b\u79fb\u52a8\u7684\u8f66\u8f86\u6216\u7269\u4f53\u3002\u5b83\u5fc5\u987b\u80fd\u591f\u6839\u636e\u673a\u8f7d\u4f20\u611f\u5668\u7684\u53cd\u9988\u505a\u51fa\u81ea\u5df1\u7684\u51b3\u5b9a\u3002<\/p>\n

\u56e0\u6b64\uff0c\u673a\u5668\u4eba\u53ef\u4ee5\u662f\u81ea\u4e3b\u6458\u679c\u673a\uff0c\u4e5f\u53ef\u4ee5\u662f\u9152\u5e97\u8d70\u5eca\u6e05\u6d01\u673a\u5668\u4eba\u3002\u4f46\u4e8b\u5b9e\u662f\uff0c\u5b83\u9700\u8981\u72ec\u7acb\u5bfc\u822a\u3002<\/p>\n\n <\/div>\n\n <\/div>\n <\/div>\n \n \n <\/div>\n\n\n \n

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ROS \u5982\u4f55\u5de5\u4f5c\uff1f<\/h3>\n\n \n\n\n \n\n\n\n
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\u5c3d\u7ba1\u540d\u4e3a ROS\uff0c\u4f46\u4e25\u683c\u6765\u8bf4\u5b83\u5e76\u4e0d\u662f\u4e00\u4e2a\u64cd\u4f5c\u7cfb\u7edf\u3002\u5b83\u662f\u4e00\u5957\u5f00\u6e90\u5e93\u548c\u5de5\u5177\uff0c\u4e3a\u5f00\u53d1\u5728\u673a\u5668\u4eba\u7cfb\u7edf\u4e0a\u8fd0\u884c\u7684\u8f6f\u4ef6\u63d0\u4f9b\u4e86\u4e00\u4e2a\u6846\u67b6\u3002\u5b83\u4ecd\u7136\u9700\u8981\u4e00\u4e2a\u4e3b\u64cd\u4f5c\u7cfb\u7edf\u5728\u4e0a\u9762\u8fd0\u884c\uff0c\u901a\u5e38\u662f\u57fa\u4e8e Linux \u7684\u7cfb\u7edf\uff0c\u5982 Ubuntu\u3002\u7136\u540e\uff0c\u901a\u8fc7 ROS \u5c42\uff0c\u5b83\u53ef\u4ee5\u5b9e\u73b0\u5fc5\u8981\u7684\u786c\u4ef6\u62bd\u8c61\u548c\u521b\u5efa\u673a\u5668\u4eba\u7a0b\u5e8f\u6240\u9700\u7684\u5176\u4ed6\u5e38\u7528\u529f\u80fd\u3002<\/p>\n

\u4f46\u662f\uff0c\u662f\u4ec0\u4e48\u8ba9 ROS \u5bf9\u5f00\u53d1\u4eba\u5458\u5177\u6709\u5438\u5f15\u529b\u5462\uff1f<\/p>\n\n <\/div>\n\n <\/div>\n <\/div>\n \n \n <\/div>\n\n\n

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1) \u5f00\u653e\u6e90\u7801\uff0c\u5e7f\u6cdb\u4f7f\u7528<\/h5>\n\n\n
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\u51ed\u501f\u5f00\u6e90\u7684\u4f18\u52bf\u548c\u65e5\u76ca\u5e7f\u6cdb\u7684\u5e94\u7528\uff0cROS \u5df2\u53d1\u5c55\u6210\u4e3a\u673a\u5668\u4eba\u7f16\u7a0b\u7684\u6807\u51c6\u4e4b\u4e00\u3002\u4ece\u5b66\u672f\u754c\u5f00\u59cb\uff0c\u8d8a\u6765\u8d8a\u591a\u7684\u4f01\u4e1a\u5f00\u59cb\u4f7f\u7528 ROS \u73af\u5883\u3002\u8bb8\u591a OXTS \u5ba2\u6237\u6b63\u5728\u4e3a\u5546\u4e1a\u4ea7\u54c1\u5f00\u53d1\u8282\u70b9\u548c\u9a71\u52a8\u7a0b\u5e8f\uff0c\u4ee5\u4fbf\u5c06\u5b83\u4eec\u8f7b\u677e\u96c6\u6210\u5230\u8fd9\u4e2a\u901a\u7528\u5e73\u53f0\u4e0a\u3002<\/p>\n\n <\/div>\n\n <\/div>\n <\/div>\n \n \n <\/div>\n\n\n

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2) \u652f\u6301\u591a\u79cd\u4f20\u611f\u5668<\/h5>\n\n\n
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ROS \u652f\u6301\u7684\u4e00\u957f\u4e32\u4f20\u611f\u5668\u5305\u62ec\u8bb8\u591a\u6fc0\u5149\u96f7\u8fbe\u7cfb\u7edf\u3001\u7acb\u4f53\u76f8\u673a\u3001\u70ed\u50cf\u4eea\u548c RGB \u76f8\u673a\u3001\u529b\/\u529b\u77e9\u4f20\u611f\u5668\u3001\u7535\u673a\u63a7\u5236\u5668\u4ee5\u53ca\u5b9a\u4f4d\u7cfb\u7edf\uff0c\u5982 OXTS \u7684\u60ef\u6027\u5bfc\u822a\u7cfb\u7edf\uff0c\u4f8b\u5982 RT3000 v4<\/a><\/p>\n\n <\/div>\n\n <\/div>\n <\/div>\n \n \n <\/div>\n\n\n

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3) \u8fdb\u5165\u95e8\u69db\u4f4e<\/h5>\n\n\n
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\u7531\u4e8e\u5e7f\u6cdb\u91c7\u7528\u4e86\u901a\u7528\u6807\u51c6\uff0c\u521b\u5efa\u673a\u5668\u4eba\u5e94\u7528\u7a0b\u5e8f\u7684\u95e8\u69db\u5927\u5927\u964d\u4f4e\uff0c\u793e\u533a\u4e4b\u95f4\u7684\u8054\u7cfb\u4e5f\u66f4\u52a0\u7d27\u5bc6\u3002\u4ee3\u7801\u66f4\u5bb9\u6613\u79fb\u690d\u5230\u4e0d\u540c\u7684\u673a\u5668\u4eba\u7cfb\u7edf\u4e2d\uff0c\u5f00\u53d1\u4eba\u5458\u4e5f\u4e0d\u5fc5\u4ece\u5934\u5f00\u59cb\uff0c\u4e3a\u4ed6\u4eec\u4f7f\u7528\u7684\u6bcf\u4e2a\u4e0d\u540c\u786c\u4ef6\u5236\u9020\u5546\u5960\u5b9a\u57fa\u7840\u3002<\/p>\n\n <\/div>\n\n <\/div>\n <\/div>\n \n \n <\/div>\n\n\n

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ROS \u6709\u4ec0\u4e48\u7528\u9014\uff1f<\/h3>\n\n \n\n\n \n\n\n\n
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ROS \u901a\u5e38\u88ab\u5e7f\u6cdb\u5e94\u7528\u4e8e\u5404\u79cd\u4e0d\u540c\u7684\u5e94\u7528\u9886\u57df\u3002\u6211\u4eec\u4eca\u5929\u770b\u5230\u7684\u8bb8\u591a ROS \u7528\u4f8b\u90fd\u662f\u5728\u9700\u8981 \"\u4eba\u7c7b\u8f85\u52a9 \"\u7684\u5e94\u7528\u4e2d\u3002\u56e0\u6b64\uff0c\u5236\u9020\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u6216\u5de5\u4e1a\u548c\u533b\u7597\u673a\u5668\u4eba\u7684\u5de5\u7a0b\u5e08\u90fd\u4f1a\u4f7f\u7528 ROS \u6846\u67b6\u3002\u5f53\u7136\uff0c\u7814\u7a76\u548c\u6559\u80b2\u673a\u6784\u4e5f\u901a\u5e38\u4f7f\u7528 ROS \u6765\u5e2e\u52a9\u5f00\u53d1\u8fd9\u4e9b\u5e94\u7528\u7684\u4ea7\u54c1\u3002<\/p>\n

\u5728\u672c\u8282\u4e2d\uff0c\u6211\u4eec\u5c06\u8ba8\u8bba\u8fd9\u4e9b\u5e94\u7528\u7a0b\u5e8f\u4f7f\u7528 ROS \u7684\u539f\u56e0\u3002<\/p>\n\n <\/div>\n\n <\/div>\n <\/div>\n \n \n <\/div>\n\n\n

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\u81ea\u4e3b\u8f66\u8f86\u5bfc\u822a<\/h5>\n\n\n
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\u7206\u70b8\u53d1\u751f\u540e\u00a0ADAS<\/a>\u00a0(\u5728 2000 \u5e74\u4ee3\u521d\u81f3\u4e2d\u671f\uff0c\u6c7d\u8f66\u4e0a\u51fa\u73b0\u4e86\u9ad8\u7ea7\u9a7e\u9a76\u8f85\u52a9\u7cfb\u7edf\uff08Advanced Driver Assistance\uff09\u529f\u80fd\uff0c\u4e0b\u4e00\u6b65\u81ea\u7136\u5c31\u662f\u5b8c\u5168\u81ea\u52a8\u9a7e\u9a76\u529f\u80fd\u3002<\/p>\n

\u4ece\u672c\u8d28\u4e0a\u8bb2\uff0c\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u53ea\u662f\u53e6\u4e00\u4e2a\u673a\u5668\u4eba\u3002\u4e3a\u4e86\u4fdd\u8bc1\u529f\u80fd\u5b89\u5168\uff0c\u8f66\u8f86\u9700\u8981\u77e5\u9053\u81ea\u5df1\u5728\u54ea\u91cc\u3001\u8981\u53bb\u54ea\u91cc\u3001\u5982\u4f55\u5230\u8fbe\u76ee\u7684\u5730\uff08\u6309\u8ba1\u5212\u8def\u7ebf\u884c\u9a76\uff09\uff0c\u5e76\u907f\u5f00\u9014\u4e2d\u9047\u5230\u7684\u4efb\u4f55\u969c\u788d\u7269--\u5c31\u50cf\u673a\u5668\u4eba\u9700\u8981\u505a\u7684\u90a3\u6837\u3002<\/p>\n

\u4e3a\u6b64\uff0c\u8f66\u8f86\u9700\u8981\u4f7f\u7528\u6765\u81ea\u591a\u4e2a\u4f20\u611f\u5668\uff08\u5982\u6fc0\u5149\u96f7\u8fbe\u3001\u8f6e\u901f\u3001\u6444\u50cf\u5934\uff0c\u5f53\u7136\u8fd8\u6709 GPS \u6216 INS \u7b49\u5bfc\u822a\u7cfb\u7edf\uff09\u7684\u6570\u636e\uff0c\u5e76\u6839\u636e\u6536\u5230\u7684\u4fe1\u606f\u91c7\u53d6\u884c\u52a8\u3002\u56e0\u6b64\uff0cROS \u662f\u8fd9\u4e00\u7528\u4f8b\u7684\u91cd\u8981\u6846\u67b6\uff0c\u56e0\u4e3a\u5b83\u4f7f\u5de5\u7a0b\u5e08\u80fd\u591f\u5904\u7406\u6bcf\u4e2a\u4f20\u611f\u5668\u7684\u6570\u636e\uff0c\u5e76\u6839\u636e\u4f20\u611f\u5668\u7684\u53cd\u9988\u521b\u5efa\u7b97\u6cd5\uff0c\u4f7f\u7535\u673a\u505a\u51fa\u54cd\u5e94\u3002<\/p>\n

\u9664\u786c\u4ef6\u96c6\u6210\u5916\uff0cROS \u8fd8\u53ef\u7528\u4e8e\u6a21\u62df\u3001\u8def\u5f84\u53ef\u89c6\u5316\u3001\u6d4b\u8bd5\u548c\u8c03\u8bd5\u3001\u6570\u636e\u8bb0\u5f55\u548c\u91cd\u7528\u3002<\/p>\n\n <\/div>\n\n <\/div>\n <\/div>\n \n \n <\/div>\n\n\n \n

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\u4f7f\u7528 OXTS GNSS\/INS \u8fdb\u884c\u7684\u6cca\u8f66\u8f85\u52a9 ADAS \u6d4b\u8bd5<\/em><\/figcaption><\/figure>\n\n <\/div>\n\n <\/div>\n <\/div>\n \n \n <\/div>\n\n\n
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\u5de5\u4e1a\u673a\u5668\u4eba<\/h5>\n\n\n
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ROS \u7684\u53e6\u4e00\u4e2a\u7528\u4f8b\u662f\u5de5\u4e1a\u673a\u5668\u4eba\u5e94\u7528\u3002\u4e0e\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u4e00\u6837\uff0c\u5728\u4ed3\u5e93\u6216\u6e2f\u53e3\u4f5c\u4e1a\u7684\u673a\u5668\u4eba\u4e5f\u9700\u8981\u5728\u65e0\u9700\u4eba\u5de5\u5e72\u9884\u7684\u60c5\u51b5\u4e0b\uff0c\u5728\u5468\u56f4\u73af\u5883\u4e2d\u51c6\u786e\u3001\u5b89\u5168\u5730\u822a\u884c\uff0c\u5c3d\u7ba1\u89c4\u6a21\u8f83\u5c0f\u3002<\/p>\n

\u5728\u5de5\u4e1a\u73af\u5883\u4e2d\uff0c\u673a\u5668\u4eba\u53ef\u4ee5\u6709\u591a\u79cd\u4e0d\u540c\u7684\u5f62\u72b6\u548c\u5927\u5c0f\uff0c\u8fd9\u53d6\u51b3\u4e8e\u8981\u6c42\u5b83\u6267\u884c\u7684\u4efb\u52a1\u3002AGV\uff08\u81ea\u4e3b\u8d70\u884c\u578b\u8f66\u8f86\uff09\u53ef\u4ee5\u7528\u6765\u8fd0\u8f93\u5b58\u8d27\uff0c\u6216\u8005\u90e8\u7f72\u4e00\u4e2a\u8f83\u5c0f\u7684\u673a\u5668\u4eba\u6765\u6e05\u6d01\u5de5\u5382\u5730\u677f\uff0c\u5c31\u50cf\u9152\u5e97\u91cc\u7684\u81ea\u4e3b\u771f\u7a7a\u5438\u5c18\u5668\u4e00\u6837\u3002\u4e0d\u8fc7\uff0c\u6709\u4e00\u70b9\u59cb\u7ec8\u5982\u4e00\uff0c\u90a3\u5c31\u662f\u9700\u8981\u5728\u5404\u79cd\u4e0d\u540c\u7684\u73af\u5883\u4e2d\u5de5\u4f5c\u3002<\/p>\n

\u8981\u5728\u591a\u79cd\u73af\u5883\u4e2d\u5de5\u4f5c\uff0c\u5c31\u9700\u8981\u4e00\u79cd\u4f20\u611f\u5668\u878d\u5408\u65b9\u6cd5\uff0c\u56e0\u6b64\uff0c\u51fa\u4e8e\u4e0a\u8ff0\u6240\u6709\u539f\u56e0\uff0cROS \u81f3\u5173\u91cd\u8981\u3002<\/p>\n\n <\/div>\n\n <\/div>\n <\/div>\n \n \n <\/div>\n\n\n

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\u533b\u7597\u673a\u5668\u4eba<\/h5>\n\n\n
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\u533b\u7597\u884c\u4e1a\u76ee\u524d\u6b63\u9762\u4e34\u7740\u8bf8\u591a\u6311\u6218\u3002\u4eba\u53e3\u8001\u9f84\u5316\u4e25\u91cd\uff0c\u52b3\u52a8\u529b\u4e0d\u65ad\u51cf\u5c11\u3002\u8fd9\u610f\u5473\u7740\uff0c\u4f7f\u7528\u673a\u5668\u4eba\u6765\u627f\u62c5\u66f4\u591a\u7410\u788e\u3001\u53ef\u91cd\u590d\u7684\u4efb\u52a1\uff08\u5982\u534f\u52a9\u884c\u52a8\u548c\u5eb7\u590d\u8bad\u7ec3\uff09\uff0c\u4f1a\u5e26\u6765\u771f\u6b63\u7684\u3001\u660e\u663e\u7684\u76ca\u5904\u3002<\/p>\n

\u5728\u8fd9\u79cd\u60c5\u51b5\u4e0b\uff0c\u53ea\u8981\u8def\u7ebf\u662f\u53ef\u91cd\u590d\u7684\uff0c\u5c31\u53ef\u4ee5\u4f7f\u7528 ROS \u6765\u786e\u4fdd\u673a\u5668\u4eba\u575a\u6301\u5176\u9884\u5148\u89c4\u5212\u7684\u8def\u7ebf\u3002\u611f\u77e5\u7b97\u6cd5\u4e5f\u53ef\u7528\u4e8e\u786e\u4fdd\u907f\u514d\u6d89\u53ca\u673a\u5668\u4eba\u7684\u4e8b\u6545\u3002<\/p>\n

\u9664\u79fb\u52a8\u548c\u5eb7\u590d\u5e94\u7528\u5916\uff0c\u673a\u5668\u4eba\u8fd8\u53ef\u7528\u4e8e\u533b\u7597\u673a\u5668\u4eba\u6280\u672f\uff0c\u7cfb\u7edf\u5730\u68c0\u67e5\u5bf9\u75c5\u4eba\u7684\u89c2\u5bdf\u7ed3\u679c\uff0c\u5e76\u5728\u53d1\u73b0\u4efb\u4f55\u5f02\u5e38\u60c5\u51b5\u65f6\u5411\u7ecf\u8fc7\u57f9\u8bad\u7684\u5de5\u4f5c\u4eba\u5458\u53d1\u51fa\u8b66\u62a5\u3002<\/p>\n\n <\/div>\n\n <\/div>\n <\/div>\n \n \n <\/div>\n\n\n \n

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xRED3000 \u662f\u673a\u5668\u4eba\u96c6\u6210\u9879\u76ee\u7684\u7406\u60f3\u9009\u62e9<\/em><\/figcaption><\/figure>\n<\/div>\n<\/div>\n<\/div>\n<\/figcaption><\/figure>\n\n <\/div>\n\n <\/div>\n <\/div>\n \n \n <\/div>\n\n\n
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\u5c06 OxTS \u7cfb\u7edf\u4e0e ROS \u7ed3\u5408\u4f7f\u7528<\/h5>\n\n\n
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\u5728 OXTS\uff0c\u6211\u4eec\u5f00\u53d1\u4e86 ROS 2 \u7684\u9a71\u52a8\u7a0b\u5e8f<\/a>OXTS INS \u662f ROS \u7684\u6700\u65b0\u7248\u672c\uff0c\u5b83\u63d0\u4f9b\u4e86\u4e00\u7cfb\u5217\u8f6f\u4ef6\u5305\uff0c\u53ef\u4ee5\u89e3\u7801\u6765\u81ea OXTS INS \u8bbe\u5907\u7684\u5b9e\u65f6 NCOM \u5bfc\u822a\u6570\u636e\uff0c\u5e76\u4ee5\u5176\u4ed6 ROS \u517c\u5bb9\u8bbe\u5907\u53ef\u4ee5\u4f7f\u7528\u7684\u683c\u5f0f\u53d1\u5e03\u8fd9\u4e9b\u6570\u636e\u3002\u8fd9\u4f7f\u5f97 OXTS \u8bbe\u5907\u80fd\u591f\u8f7b\u677e\u96c6\u6210\u5230\u66f4\u5e7f\u6cdb\u7684 ROS \u7f51\u7edc\u4e2d\uff0c\u5e76\u4e3a\u5bfc\u822a\u548c\u63a7\u5236\u5e94\u7528\u63d0\u4f9b\u5b9a\u4f4d\u3001\u5b9a\u5411\u548c\u52a8\u6001\u6570\u636e\u3002<\/p>\n

\u6211\u4eec\u8fd8\u5f00\u53d1\u4e86\u53e6\u4e00\u4e2a\u72ec\u7acb\u4e8e NCOM \u6570\u636e\u89e3\u7801\u7684\u8f6f\u4ef6\u5305\u3002\u8fd9\u4e2a\u540d\u4e3a \"ROS 2GAD \"\u7684\u8282\u70b9\u53ef\u4ee5\u4ece ROS \u73af\u5883\u4e2d\u7684\u5176\u4ed6\u4f20\u611f\u5668\uff08\u5982\u6fc0\u5149\u96f7\u8fbe\u548c\u6444\u50cf\u5934\uff09\u83b7\u53d6\u6570\u636e\uff0c\u5e76\u5c06\u5176\u8f6c\u6362\u4e3a\u6211\u4eec\u7684\u901a\u7528\u8f85\u52a9\u6570\u636e\uff08GAD\uff09\u683c\u5f0f\u3002<\/p>\n<\/div>\n<\/div>\n<\/div>\n

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OXTS \u7ed3\u5408\u60ef\u6027\uff08\u6216\u66ff\u4ee3\u5168\u7403\u5bfc\u822a\u536b\u661f\u7cfb\u7edf\uff09\u8fdb\u884c\u901a\u7528\u8f85\u52a9\uff0c\u662f\u4e3a\u66f4\u5feb\u5730\u96c6\u6210\u5916\u90e8\u4f20\u611f\u5668\u800c\u5f00\u53d1\u7684\u63a5\u53e3\uff0c\u53ef\u901a\u8fc7\u63d0\u4f9b\u4f4d\u7f6e\u3001\u901f\u5ea6\u548c\u59ff\u6001\u7b49\u6d4b\u91cf\u6570\u636e\u6765\u8f85\u52a9\u5bfc\u822a\u5f15\u64ce\u3002<\/p>\n

\u901a\u8fc7\u5c06 ROS \u4fe1\u606f\u8f6c\u6362\u4e3a\u6807\u51c6\u7684 GAD \u683c\u5f0f\uff0c\u6570\u636e\u53ef\u4ee5\u76f4\u63a5\u4f20\u9012\u5230 OXTS \u5bfc\u822a\u5f15\u64ce\uff0c\u5e76\u5728\u90a3\u91cc\u4e0e\u60ef\u6027\u6570\u636e\u548c\u5176\u4ed6\u8f85\u52a9\u6e90\uff08\u5982\u5168\u7403\u5bfc\u822a\u536b\u661f\u7cfb\u7edf\uff09\u76f8\u7ed3\u5408\u3002<\/p>\n<\/div>\n<\/div>\n<\/div>\n\n <\/div>\n\n <\/div>\n <\/div>\n \n \n <\/div>\n\n\n \n

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\u81ea\u4e3b\u673a\u5668\u4eba\u5bfc\u822a\u89e3\u51b3\u65b9\u6848\u7b80\u4ecb<\/h3>\n\n \n\n\n \n\n\n\n
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AMR \u9700\u8981\u4e00\u4e2a\u5f3a\u5927\u7684\u673a\u5668\u4eba\u5b9a\u4f4d\u89e3\u51b3\u65b9\u6848\uff1b\u4e00\u4e2a\u4e0d\u4ec5\u80fd\u8bb0\u5f55\u673a\u5668\u4eba\u4f4d\u7f6e\u548c\u65b9\u5411\uff0c\u8fd8\u80fd\u5728\u5ba4\u5185\u5916\u8fd0\u884c\u7684\u5de5\u5177\u3002<\/p>\n

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